This paper addresses the challenges associated with steering-angle control of electric power steering for autonomous vehicles, including model parameter uncertainty, dependency self-aligning moment disturbance estimation on tire parameters, and compensation asymmetrical hysteresis behavior in system caused by backlash gears static friction. A variable gain-sliding mode controller is developed t...

This document presents a review of developments reported in the field of adaptive controller designed for a class of uncertain nonlinear systems subjected to hysteresis like actuator nonlinearities. Controller design for a class of nonlinear delayed system subjected to hysteresis has attracted many researchers due to challenges posed in defining a well defined control scheme for this class of s...

Piezoelectric actuators are widely used in micro manipulation applications. However hysteresis nonlinearity limits accuracy of these actuators. This paper presents a novel approach for utilizing a piezoelectric nano-stage as slave manipulator of a teleoperation system. The Prandtl-Ishlinskii (PI) model is used to model actuator hysteresis in feedforward scheme to cancel out this nonlinearity. T...

This paper applies fractional order PID controller to torsional system’s backlash vibration suppression control, in which the order k of D controller can not only be integer but also be any real number. In order to improve control system’s robustness against backlash non-linearity, several methods have been proposed. However their design processes are very complicated. In this paper, a clear an...

In this paper, the problem of driving angular position of a direct current servomotor system with unmodeled wide backlash nonlinearity is addressed. In order to tackle this problem, a control scheme based on an adaptive super twisting algorithm is proposed. In order to implement the proposed controller, information about angular velocity is estimated by means of a robust differentiator. Based o...

Managed care issues were volatile during the last 5 years and the related publications mirror that controversy. An important trait of the articles published on managed care was how quickly they outdated. Much of the literature published in 1999 focused on the source of the managed care backlash or was in response to proposed patients’ bill of rights legislation; for example, the October 1999 is...

In the paper an application of the model predictive controller for the drive system with elasticity and backlash is presented. In the introduction the control problem of the drive system with mechanical backlash is introduced. Next, the mathematical model of the drive is presented. Then the predictive algorithm is described briefly. The performance of the predictive controller is examined in th...